A New Adaptive Federated Cubature Kalman Filter Based on Chi-Square Test for SINS/GNSS/SRS/CNS Integration

Table 2

Mean absolute error of different algorithms under the measurement noise with changed statistical characteristics under condition 1.

Algorithm	Error type	Mean absolute error
		(200 s, 300 s)	(500 s, 600 s)	(800 s, 900 s)	Other times
FCKF	Velocity	0.195 m/s	0.189 m/s	0.141 m/s	0.133 m/s
	Position	19.36 m	6.46 m	17.66 m/s	6.36 m
CRDOF	Velocity	0.133 m/s	0.149 m/s	0.134 m/s	0.126 m/s
	Position	6.64 m	6.15 m	6.86 m	6.77 m
CAFCKF	Velocity	0.121 m/s	0.103 m/s	0.093 m/s	0.116 m/s
	Position	3.57 m	3.24 m	3.98 m	3.43 m